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https://github.com/tomas789/kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
https://github.com/tomas789/kitti2bag

converter kitti kitti-data kitti-dataset odometry point-cloud ros rosbag tool

Last synced: about 2 months ago
JSON representation

Convert KITTI dataset to ROS bag file the easy way!

Host: GitHub
URL: https://github.com/tomas789/kitti2bag
Owner: tomas789
License: mit
Created: 2016-11-28T11:20:56.000Z (almost 8 years ago)
Default Branch: master
Last Pushed: 2024-07-06T09:21:20.000Z (3 months ago)
Last Synced: 2024-07-20T08:08:44.290Z (2 months ago)
Topics: converter, kitti, kitti-data, kitti-dataset, odometry, point-cloud, ros, rosbag, tool
Language: Python
Size: 345 KB
Stars: 706
Watchers: 12
Forks: 256
Open Issues: 41
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

awesome-robotic-tooling - kitti2bag - Convert KITTI dataset to ROS bag file the easy way! (Interaction / Storage and Record)

README

# kitti2bag

*Hello everybody! I'm looking for more people that can bring this package to the next level. If you'd like to help you can contact me via the email. I'll be happy for every news contribution!*

[![Gitter](https://badges.gitter.im/kitti2bag/community.svg)](https://gitter.im/kitti2bag/community?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge) [![Build Status](https://travis-ci.org/tomas789/kitti2bag.svg?branch=master)](https://travis-ci.org/tomas789/kitti2bag)

Convert [KITTI](http://www.cvlibs.net/datasets/kitti/index.php) dataset to ROS bag file the easy way!

![KITTI playback preview](https://raw.githubusercontent.com/tomas789/kitti2bag/gh-pages/img/kitti_playback.png)

## Collaboration

This package enjoyed significant interest from more people then I could have thought at the beginning. I'm really glad to see that. I see many PRs and issues being raised but my day job does not allow me to push this repository further. In order to allow this package to prosper, I'm opening it up for the community. I'm more than happy to add you as a collaborator to this repository. Just send me an email.

And by the way. To ensure we maintain the quality of the repo you are required to get the PR approval from at least one other collaborator. You can use the [Gitter](https://gitter.im/kitti2bag/community?utm_source=share-link&utm_medium=link&utm_campaign=share-link) to communicate with others.

## TODOs

Help me make this feature rich and complete. Just fork this repo, implement new features (very easy in this case) and make [pull request](https://github.com/tomas789/kitti2bag/pulls).

Feature request list:
* make [URDF](http://wiki.ros.org/urdf) of a car so transformations between frames are easily done by ROS itself.
* deal with tracklets
* support for unsynced+unrectified version
* provide documentation via [ROS wiki](wiki.ros.org)
* provide simple GUI
* distribute publically available bagfiles (is there a reliable public storage for this purpose?)
* export only subset of sensors

## Contributions

Thanks to the work of @jnitsch, _kitti2bag_ can now export velodyne laser data and dynamic _tf_ transformations. Thanks to @emreay-, this tool can now convert odometry datasets too. Thank you both!

## How to install it?

It is very easy! On the machine with ROS installed, just run
```bash
pip install kitti2bag
```

## How to run it?

One example is better then thousand words so here it is

```bash
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0002_sync.zip
$ unzip 2011_09_26_calib.zip
$ kitti2bag -t 2011_09_26 -r 0002 raw_synced .
Exporting static transformations
Exporting time dependent transformations
Exporting IMU
Exporting camera 0
100% (77 of 77) |##########################| Elapsed Time: 0:00:00 Time: 0:00:00
Exporting camera 1
100% (77 of 77) |##########################| Elapsed Time: 0:00:00 Time: 0:00:00
Exporting camera 2
100% (77 of 77) |##########################| Elapsed Time: 0:00:01 Time: 0:00:01
Exporting camera 3
100% (77 of 77) |##########################| Elapsed Time: 0:00:01 Time: 0:00:01
Exporting velodyne data
100% (77 of 77) |##########################| Elapsed Time: 0:00:15 Time: 0:00:15
## OVERVIEW ##
path: kitti_2011_09_26_drive_0002_synced.bag
version: 2.0
duration: 7.8s
start: Sep 26 2011 13:02:44.33 (1317042164.33)
end: Sep 26 2011 13:02:52.16 (1317042172.16)
size: 417.2 MB
messages: 1078
compression: none [308/308 chunks]
types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/camera_color_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 77 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 77 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 77 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 77 msgs : sensor_msgs/PointCloud2
/tf 77 msgs : tf2_msgs/TFMessage
/tf_static 77 msgs : tf2_msgs/TFMessage
```

That's it. You have file `kitti_2011_09_26_drive_0002_sync.bag` that contains your data.

Other source files can be found at [KITTI raw data](http://www.cvlibs.net/datasets/kitti/raw_data.php) page.

If you got an error saying something like _command not found_ it means that your python installation is in bad shape. You might try running
```python -m kitti2bag -t 2011_09_26 -r 0002 raw_synced .```
Or maybe use Docker.

### Prefer Docker?

That is easy too. There is a pre-built image `tomas789/kitti2bag`.

This might also be a better alternative if you are having troubles installing the package.

## Bug reporting, support and feature requests.

I appreciate [pull requests](https://github.com/tomas789/kitti2bag/pulls) with bug fixes and new features. You you want to help with something please use [GitHub issue tracker](https://github.com/tomas789/kitti2bag/issues).

## Related works

* [pykitti](https://github.com/utiasSTARS/pykitti) is very simple library for dealing with KITTI dataset in python.
* [kitti_player](https://github.com/tomas789/kitti_player) allows to play dataset directly. No bag file needed. I found difficult to get it work. Some bug fixed can be found in [my fork of kitti_player](https://github.com/tomas789/kitti_player) but still not good enough.